EP4128033A4 - Merkmalsextraktion aus mobilen lidar- und bilddaten - Google Patents

Merkmalsextraktion aus mobilen lidar- und bilddaten Download PDF

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Publication number
EP4128033A4
EP4128033A4 EP21780922.7A EP21780922A EP4128033A4 EP 4128033 A4 EP4128033 A4 EP 4128033A4 EP 21780922 A EP21780922 A EP 21780922A EP 4128033 A4 EP4128033 A4 EP 4128033A4
Authority
EP
European Patent Office
Prior art keywords
image data
feature extraction
mobile lidar
lidar
mobile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21780922.7A
Other languages
English (en)
French (fr)
Other versions
EP4128033A1 (de
Inventor
Kaushik MAHATA
Md Mashud HYDER
Peter Jamieson
Irene WANADY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anditi Pty Ltd
Original Assignee
Anditi Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anditi Pty Ltd filed Critical Anditi Pty Ltd
Publication of EP4128033A1 publication Critical patent/EP4128033A1/de
Publication of EP4128033A4 publication Critical patent/EP4128033A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/653—Three-dimensional objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Medical Informatics (AREA)
  • Geometry (AREA)
  • Psychiatry (AREA)
  • Social Psychology (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
EP21780922.7A 2020-03-30 2021-03-30 Merkmalsextraktion aus mobilen lidar- und bilddaten Withdrawn EP4128033A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2020202249A AU2020202249A1 (en) 2020-03-30 2020-03-30 Feature extraction from mobile lidar and imagery data
PCT/AU2021/050281 WO2021195697A1 (en) 2020-03-30 2021-03-30 Feature extraction from mobile lidar and imagery data

Publications (2)

Publication Number Publication Date
EP4128033A1 EP4128033A1 (de) 2023-02-08
EP4128033A4 true EP4128033A4 (de) 2024-07-03

Family

ID=77926855

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21780922.7A Withdrawn EP4128033A4 (de) 2020-03-30 2021-03-30 Merkmalsextraktion aus mobilen lidar- und bilddaten

Country Status (5)

Country Link
US (1) US20230186647A1 (de)
EP (1) EP4128033A4 (de)
AU (2) AU2020202249A1 (de)
CA (1) CA3174351A1 (de)
WO (1) WO2021195697A1 (de)

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US12211249B2 (en) * 2019-07-12 2025-01-28 Sony Interactive Entertainment Inc. Image processing device, image processing method, and program
US11715200B2 (en) * 2020-01-31 2023-08-01 Illumina, Inc. Machine learning-based root cause analysis of process cycle images
CN111653088B (zh) * 2020-04-21 2022-02-01 长安大学 一种车辆出行量预测模型构建方法及预测方法和系统
US20220114762A1 (en) * 2020-10-12 2022-04-14 Electronics And Telecommunications Research Institute Method for compressing point cloud based on global motion prediction and compensation and apparatus using the same
JPWO2022102577A1 (de) * 2020-11-13 2022-05-19
AU2022214943A1 (en) 2021-01-29 2023-02-09 Illumina, Inc. Deep learning-based root cause analysis of process cycle images
US11999352B2 (en) * 2021-12-15 2024-06-04 Industrial Technology Research Institute Method and system for extracting road data and method and system for controlling self-driving car
CA3243151A1 (en) * 2022-01-31 2023-08-03 Purdue Research Foundation FOREST MANAGEMENT SYSTEM AND METHOD
US12307771B2 (en) * 2022-02-18 2025-05-20 Omnivision Technologies, Inc. Image processing method and apparatus implementing the same
CN114724094B (zh) * 2022-04-01 2025-09-26 中通服咨询设计研究院有限公司 一种基于三维图像与雷达技术的闸道口车内人数计量系统
CN114821541B (zh) * 2022-06-23 2022-10-04 深圳大学 一种基于网格模型的道路面损伤检测方法及相关设备
CN115294552B (zh) * 2022-08-08 2024-11-05 腾讯科技（深圳）有限公司 一种杆状物识别方法、装置、设备及存储介质
CN115077515B (zh) * 2022-08-19 2022-11-11 高德软件有限公司 数据生成方法、装置、电子设备及计算机程序产品
CN115586541B (zh) * 2022-10-25 2025-10-03 上海易澳科技有限公司 激光点云数据的处理方法、装置、存储介质及设备
CN115984359B (zh) * 2022-12-29 2026-01-30 中国电建集团昆明勘测设计研究院有限公司 基于球坐标积分的地基激光点云单木树冠体积提取方法
CN115797640B (zh) * 2023-02-13 2023-04-21 北京路凯智行科技有限公司 用于露天矿区的道路边界提取方法
CN116363177A (zh) * 2023-02-23 2023-06-30 西北大学 一种基于几何Transformer和高斯混合模型的三维点云配准方法
US12175596B2 (en) * 2023-03-07 2024-12-24 Shandong Jianzhu University Indoor structure segmentation method based on laser measurement point cloud
CN116310849B (zh) * 2023-05-22 2023-09-19 深圳大学 基于三维形态特征的树木点云单体化提取方法
CN116902003B (zh) * 2023-07-31 2024-02-06 合肥海普微电子有限公司 基于激光雷达与摄像头混合模态的无人驾驶方法
CN117011350B (zh) * 2023-08-08 2025-08-12 中国国家铁路集团有限公司 一种倾斜航空影像与机载LiDAR点云特征匹配方法
CN116977967B (zh) * 2023-08-09 2026-01-06 复旦大学 一种针对自动驾驶系统的伪造点云物体识别方法
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US20250095168A1 (en) * 2023-09-15 2025-03-20 Qualcomm Incorporated Guided domain adaptation
CN119810789A (zh) * 2023-10-09 2025-04-11 御眼视觉技术有限公司 将来自车辆激光雷达的点线与视觉检测到的对象进行匹配
CN117152446B (zh) * 2023-10-31 2024-02-06 昆明理工大学 一种基于高斯曲率和局部凹凸性的改进lccp点云分割方法
CN117409024B (zh) * 2023-12-14 2024-04-09 苏州优备精密智能装备股份有限公司 用于稀疏点云的高鲁棒性高压电力线分割方法及其应用
CN117773918B (zh) * 2023-12-19 2024-08-20 中信重工开诚智能装备有限公司 一种基于点云处理的智能喷浆机器人喷浆路径规划方法
CN118262521B (zh) * 2024-04-02 2024-10-01 北京交通大学 基于目标识别的路况实时监测方法
CN118470674B (zh) * 2024-05-11 2025-03-14 理工雷科智途(北京)科技有限公司 一种井工矿自动驾驶中可行驶区域点云快速提取算法
CN119579774B (zh) * 2024-11-08 2025-08-22 中国人民解放军海军航空大学 一种基于多层直接优化的激光点云室内建图与合并方法
CN119762791B (zh) * 2025-03-07 2025-05-13 四川大学 一种基于道路中线的道路点云分割优化方法
CN119784817B (zh) * 2025-03-07 2025-05-16 苏交科集团股份有限公司 基于双目视觉的路面平整度检测方法及系统
CN120182129B (zh) * 2025-05-20 2025-07-25 中国矿业大学 一种无人机载LiDAR点云滤波优化方法
CN120833444B (zh) * 2025-09-18 2025-12-02 山东科技大学 基于超体素区域生长的交叉巷道表面点云提取方法

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See also references of WO2021195697A1 *

Also Published As

Publication number Publication date
US20230186647A1 (en) 2023-06-15
AU2020202249A1 (en) 2021-10-14
CA3174351A1 (en) 2021-10-07
WO2021195697A1 (en) 2021-10-07
AU2021249313A1 (en) 2022-12-01
EP4128033A1 (de) 2023-02-08

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